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Formation control of marine vehicles during replenishment operations

Tobiasz M., Śmierzchalski R.

Studia Informatica : systems and information technology

2007

Vol. 2(9)

43--53

Formation control consists in stabilising distances between ships during their motion at the same speed. Due to necessary coordination of motion of the ships, a structure is composed which allows constant distance to be kept between the ships with an assumed accuracy. Formation control makes use of the Leader-Follower algorithm. The steering structure includes the superior formation controller and real-time trajectory controllers. Direct course and speed steering is executed using PD fuzzy controllers. The application of advanced technologies provides opportunities for reducing the number of crew involved in at-sea reloading activities and increasing ship safety during operations of this type.